version: 66.04
glider: 147
mission: 3
dive: 46
start: 1 25 109 7 28 40
data:
$ID,147
$MISSION,3
$DIVE,46
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,500
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,185
$T_MISSION,300
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52633
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2130
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,460
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-18975.467
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,2540
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.10227
$PRESSURE_SLOPE,0.00011648
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042839935
$SEABIRD_T_H,0.00062826771
$SEABIRD_T_I,2.331103e-05
$SEABIRD_T_J,2.4629044e-06
$SEABIRD_C_G,-9.8388109
$SEABIRD_C_H,1.1014243
$SEABIRD_C_I,-0.00163139
$SEABIRD_C_J,0.00020565242
$GPS1,071330,2147.350,-15830.748,38,1.0,39,9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-63.0
$GPS2,072744,2147.514,-15830.687,9,1.7,9,9.9
$SPEED_LIMITS,0.156,0.231
$TGT_NAME,WPT8
$TGT_LATLONG,2200.000,-15829.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.091,0.212
$KALMAN_X,37724.0,-328.2,11.7,-62097.0,1684.4
$KALMAN_Y,52631.1,-1473.9,498.9,-1849.2,3010.4
$MHEAD_RNG_PITCHd_Wd,327.0,23304,-17.6,-9.009
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.25,-121.7,0.0,0.0,0,96,0.00,0.00,-79.18,0.000,2,0.000,0.000,476,1981,2373
$GC,99,-1.25,-121.7,3.1,-2.7,10,140,11.88,2.28,-21.33,0.000,4,0.148,0.042,2718,3417,3036
$GC,258,-0.94,-121.7,29.0,-19.7,36,265,0.30,2.25,0.00,0.000,6,0.094,0.029,2794,2018,3037
$GC,522,-0.74,-121.7,68.0,-14.0,61,527,0.17,2.35,0.00,0.000,4,0.100,0.046,2832,590,3037
$GC,642,-0.63,-121.7,83.9,-11.6,71,649,0.15,2.22,0.00,0.000,6,0.102,0.023,2862,2016,3037
$GC,904,-0.63,-121.7,110.1,-9.5,96,908,0.00,2.35,0.00,0.000,4,0.000,0.049,2862,597,3038
$GC,935,-0.63,-121.7,113.7,-9.8,98,944,0.00,2.22,0.00,0.000,6,0.000,0.022,2863,2002,3038
$GC,1201,-0.63,-121.7,136.9,-8.1,123,1205,0.00,2.33,0.00,0.000,4,0.000,0.051,2862,594,3038
$GC,1248,-0.63,-121.7,141.1,-9.0,127,1252,0.00,2.20,0.00,0.000,6,0.000,0.024,2863,2006,3038
$GC,1512,-0.63,-121.7,163.2,-7.7,151,1517,0.00,2.35,0.00,0.000,4,0.000,0.051,2862,594,3038
$GC,1609,-0.67,-121.7,171.6,-8.3,159,1613,0.00,2.20,0.00,0.000,6,0.000,0.025,2863,2003,3038
$GC,1871,-0.73,-121.7,188.1,-5.9,183,1875,0.00,2.35,0.00,0.000,4,0.000,0.051,2863,593,3038
$GC,1938,-0.77,-121.7,192.6,-6.6,188,1945,0.15,2.20,0.00,0.000,6,0.047,0.025,2811,1997,3039
$GC,2202,-0.73,-121.7,215.7,-9.2,202,2204,0.15,0.00,0.00,0.000,6,0.087,0.000,2842,1999,3038
$GC,2447,-0.76,-121.7,235.4,-8.1,208,2451,0.00,2.28,0.00,0.000,4,0.000,0.044,2842,3402,3038
$GC,2468,-0.80,-121.7,237.4,-8.4,208,2473,0.00,2.25,0.00,0.000,6,0.000,0.034,2842,1994,3038
$GC,2724,-0.85,-121.7,256.2,-7.0,215,2729,0.12,2.35,0.00,0.000,4,0.052,0.058,2798,597,3039
$GC,2818,-0.76,-121.7,264.2,-9.0,217,2823,0.17,2.22,0.00,0.000,6,0.089,0.026,2833,2009,3038
$GC,3091,-0.76,-121.7,281.3,-6.2,224,3095,0.00,2.40,0.00,0.000,4,0.000,0.058,2833,590,3037
$GC,3146,-0.76,-121.7,285.4,-7.0,225,3150,0.00,2.25,0.00,0.000,6,0.000,0.028,2833,2003,3036
$GC,3419,-0.81,-121.7,301.4,-5.5,232,3423,0.00,2.28,0.00,0.000,4,0.000,0.049,2833,3399,3035
$GC,3441,-0.85,-121.7,302.8,-5.8,232,3446,0.00,2.28,0.00,0.000,6,0.000,0.038,2833,1994,3035
$GC,3703,-0.90,-121.7,319.3,-6.7,239,3707,0.12,2.33,0.00,0.000,4,0.054,0.048,2791,3403,3034
$GC,3735,-0.86,-121.7,322.2,-9.1,239,3742,0.10,2.28,0.00,0.000,6,0.098,0.038,2810,2002,3034
$GC,3986,-0.86,-121.7,343.4,-8.4,246,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2002,3032
$GC,4230,-0.86,-121.7,361.5,-7.0,252,4234,0.00,2.45,0.00,0.000,4,0.000,0.071,2810,588,3030
$GC,4302,-0.86,-121.7,366.5,-6.4,253,4306,0.00,2.28,0.00,0.000,6,0.000,0.033,2810,2000,3030
$GC,4563,-0.86,-121.7,384.1,-6.7,260,4567,0.00,2.42,0.00,0.000,4,0.000,0.066,2811,589,3028
$GC,4674,-0.86,-121.7,391.4,-7.0,262,4678,0.00,2.28,-0.08,0.000,6,0.000,0.032,2810,2004,3045
$GC,4935,-0.86,-121.7,408.0,-6.5,269,4939,0.00,2.42,0.00,0.000,4,0.000,0.067,2811,598,3044
$GC,5024,-0.86,-121.7,414.4,-6.6,271,5027,0.00,2.28,0.00,0.000,6,0.000,0.034,2810,2005,3044
$GC,5308,-0.86,-121.7,432.0,-6.1,278,5312,0.00,2.35,0.00,0.000,4,0.000,0.064,2810,3399,3042
$GC,5334,-0.86,-121.7,433.8,-6.5,278,5338,0.00,2.30,0.00,0.000,6,0.000,0.044,2811,2007,3042
$GC,5596,-0.86,-121.7,450.6,-6.5,285,5601,0.00,2.53,0.00,0.000,4,0.000,0.085,2810,586,3040
$GC,5646,-0.86,-121.7,454.5,-7.4,286,5650,0.00,2.30,0.00,0.000,6,0.000,0.038,2810,1994,3040
$GC,5924,-0.86,-121.7,474.2,-7.4,293,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1995,3038
$GC,6169,-0.86,-121.7,491.7,-7.1,299,6173,0.00,2.47,0.00,0.000,4,0.000,0.077,2810,590,3037
$GC,6208,-0.86,-121.7,494.6,-7.5,300,6212,0.00,2.33,0.00,0.000,6,0.000,0.038,2811,2007,3037
$STATE,6286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6286,begin apogee
$GC,6292,-0.31,0.0,500.2,6.8,302,6396,0.55,0.00,101.00,0.917,6,0.081,0.000,2929,2064,2540
$STATE,6396,end apogee,CONTROL_FINISHED_OK
$STATE,6396,begin climb
$GC,6399,1.25,121.7,502.9,0.0,304,6508,1.50,0.00,104.93,0.890,6,0.059,0.000,3267,2064,2043
$GC,6724,1.30,138.5,480.3,8.2,312,6744,0.00,2.60,14.60,0.821,4,0.000,0.076,3267,634,1974
$GC,6782,1.30,138.5,474.9,10.2,313,6786,0.00,2.35,0.00,0.000,6,0.000,0.035,3267,2047,1972
$GC,7050,1.35,149.1,452.0,8.5,320,7065,0.10,2.50,9.90,0.783,4,0.066,0.069,3297,640,1931
$GC,7115,1.27,149.1,444.7,11.3,321,7120,0.12,2.33,0.00,0.000,6,0.116,0.034,3275,2052,1930
$GC,7375,1.27,149.1,418.7,10.2,328,7380,0.00,2.47,0.00,0.000,4,0.000,0.066,3274,636,1927
$GC,7431,1.27,149.1,411.9,12.4,329,7435,0.00,2.33,0.00,0.000,6,0.000,0.031,3274,2058,1927
$GC,7703,1.30,149.1,384.3,10.1,336,7707,0.00,2.45,0.00,0.000,4,0.000,0.063,3274,639,1925
$GC,7836,1.30,149.1,369.3,11.6,339,7840,0.00,2.33,0.00,0.000,6,0.000,0.030,3274,2050,1924
$GC,8121,1.35,162.4,344.9,8.3,346,8145,0.00,2.50,14.32,0.694,4,0.000,0.064,3274,632,1877
$GC,8324,1.35,162.4,325.2,9.5,350,8329,0.00,2.35,0.00,0.000,6,0.000,0.031,3274,2053,1874
$GC,8586,1.43,185.8,304.6,7.8,357,8613,0.15,2.50,21.10,0.784,4,0.054,0.061,3317,632,1781
$GC,8669,1.36,185.8,295.2,12.3,359,8674,0.10,2.33,0.00,0.000,6,0.123,0.029,3300,2060,1778
$GC,8958,1.37,192.4,269.9,8.7,366,8971,0.00,2.47,6.40,0.651,4,0.000,0.058,3300,629,1754
$GC,9060,1.37,192.4,259.4,10.6,368,9065,0.00,2.33,0.00,0.000,6,0.000,0.028,3300,2073,1752
$GC,9333,1.37,192.4,233.5,9.5,375,9337,0.00,2.45,0.00,0.000,4,0.000,0.058,3300,637,1751
$GC,9449,1.37,192.4,221.3,10.5,377,9453,0.00,2.28,0.00,0.000,6,0.000,0.027,3300,2053,1750
$GC,9705,1.43,206.6,199.5,8.3,384,9723,0.00,2.42,12.98,0.676,4,0.000,0.055,3300,634,1696
$GC,9768,1.43,206.6,193.6,10.3,389,9772,0.00,2.28,0.00,0.000,6,0.000,0.026,3300,2058,1695
$GC,10031,1.53,231.4,171.5,7.8,413,10059,0.15,2.47,22.52,0.670,4,0.051,0.055,3344,629,1595
$GC,10110,1.47,231.4,162.6,11.9,420,10115,0.12,2.28,0.00,0.000,6,0.109,0.025,3321,2052,1591
$GC,10374,1.51,231.4,133.9,10.5,444,10378,0.00,2.40,0.00,0.000,4,0.000,0.054,3321,629,1589
$GC,10429,1.51,231.4,127.3,11.4,448,10439,0.00,2.28,0.00,0.000,6,0.000,0.025,3320,2047,1589
$GC,10695,1.60,252.1,101.3,8.0,473,10720,0.12,2.40,18.10,0.588,4,0.055,0.051,3361,634,1511
$GC,10748,1.56,252.1,96.2,11.1,477,10752,0.12,2.25,0.00,0.000,6,0.103,0.024,3338,2050,1509
$GC,11012,1.61,252.1,70.8,9.3,501,11016,0.00,2.38,0.00,0.000,4,0.000,0.058,3337,634,1507
$GC,11143,1.61,252.1,57.0,10.0,512,11152,0.00,2.28,0.00,0.000,6,0.000,0.024,3337,2051,1506
$GC,11407,1.67,252.1,32.8,9.8,537,11412,0.12,2.38,0.00,0.000,4,0.053,0.049,3378,628,1506
$GC,11536,1.60,252.1,15.3,14.4,557,11544,0.12,2.28,0.00,0.000,6,0.091,0.031,3348,2047,1506
$STATE,11653,end climb,SURFACE_DEPTH_REACHED
$STATE,11653,begin surface coast
$FINISH,1.2,1.023650
$STATE,11678,end surface coast,CONTROL_FINISHED_OK
$STATE,11678,begin surface
$SM_CCo,11699,170.62,0.497,0,0,664,460.18
$SM_GC,2.10,0.00,0.00,170.62,0.000,0.000,0.497,475,1958,664,-11.62,-1.19,460.18
$IRIDIUM_FIX,2138.81,-15829.59,210498,070710
$TT8_MAMPS,0.027612
$HUMID,1662
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.10
$XPDR_PINGS,345
$24V_AH,23.8,12.958
$10V_AH,10.2,7.825
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,28.600,145.400,325.850,170.625,0.000,81.684,89.969,414.011,97.000,0.000,0.000,10.844,1235.056,7964.208,618.356,2058.427,835.987,33.352,1477.281,0.000,2036.687,0.000,69.874,0.000
$DEVICE_MAMPS,148.031,104.312,917.332,497.016,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,423.580,285.323,446.051,444.975,937.594,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44538,582
$CAP_FILE_SIZE,130306,0
$CFSIZE,260165632,257085440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250109,104736,2149.515,-15830.616,28,1.1,29,9.9